A six-wheel six-drive all-terrain unmanned vehicle

Abstract

The utility model discloses a six-wheel six drive's all terrain unmanned vehicle, including main frame, main frame: its surface is equipped with the shell, and the front and rear ends of main frame are equipped with the wheel through the suspension system respectively, and the suspension system has six and is two two anteroposterior symmetry distribution, and the suspension system is all double fork arm independent suspension, and the inside of main frame is equipped with drive unit respectively, and drive unit and wheel one to one correspondence, this six-wheel six drive's all terrain unmanned vehicle, through the design of six-wheel six drive, has provided powerful basic traction for the walking of unmanned vehicle, and double fork arm formula independent suspension structure has provided the ground -hugging and the body stability of each wheel, and this combination makes the vehicle be able to easily deal with the road surface that traditional unmanned vehicle is difficult to pass through such as pit, slope, gravel, grassland, has realized all terrain passing capacity, has guaranteed the stability of car body and the safety of transport goods under heavy load condition, has reduced the component consumption.

Description

Technical Field

[0001] This utility model relates to the field of unmanned transport vehicle technology, specifically a six-wheel, six-drive all-terrain unmanned vehicle. Background Technology

[0002] Unmanned transport vehicles are intelligent transportation tools based on autonomous driving technology. They perceive the environment through sensors such as LiDAR, cameras, and high-precision maps, and rely on artificial intelligence algorithms to achieve unmanned delivery of goods throughout the entire process. Their core capabilities include autonomous navigation, dynamic obstacle avoidance, and cluster scheduling. They are mainly used in logistics links such as warehousing and sorting, trunk transportation, and last-mile delivery. In the current technology, most unmanned transport vehicles adopt a four-wheel structure, with drive forms including two-wheel drive and four-wheel drive. When carrying heavy goods, they have high requirements for ground flatness and are prone to problems such as poor stability and uneven tire load, which affect driving safety. The severe vibrations under bad road conditions not only affect the accuracy of sensors and the life of the vehicle, but also pose a threat to the delicate goods being transported. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the existing defects and provide a six-wheel six-wheel drive all-terrain unmanned vehicle. Through the combination of six-wheel six-wheel drive and double wishbone independent suspension structure, the vehicle can easily cope with road surfaces such as potholes, slopes, gravel, and grass that are difficult for traditional unmanned vehicles to pass, and realize all-terrain passability, which can effectively solve the problems in the background technology.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a six-wheel, six-drive all-terrain unmanned vehicle, including a main frame;

[0005] Main Frame: Its surface is covered with an outer shell. Wheels are mounted on the front and rear ends of the main frame via a suspension system. There are six suspension systems, symmetrically distributed in pairs, all of which are double wishbone independent suspensions. The main frame contains drive units, each corresponding to one wheel. This six-wheel, six-drive design provides strong basic traction for the autonomous vehicle. The double wishbone independent suspension structure provides each wheel with extreme ground contact and vehicle stability. This combination allows the vehicle to easily handle road surfaces that traditional autonomous vehicles cannot pass through, such as potholes, slopes, gravel, and grass, achieving all-terrain capability. The steel main frame ensures load-bearing capacity, and the double wishbone suspension effectively filters the impact of bumpy roads, ensuring the stability of the vehicle under heavy loads and the safety of transported goods, while reducing component wear. The reducer uses a combination of Cr gears and an aluminum alloy housing, ensuring high strength and wear resistance of key transmission components while achieving lightweighting and optimized heat dissipation, significantly extending its service life under heavy-load, high-frequency operating environments.

[0006] Furthermore, the drive unit includes a motor, a reducer housing, and reduction gears. The motor and reducer housing are respectively disposed inside the main frame. Reduction gears are rotatably connected inside the reducer housing. The output shaft of the motor is fixedly connected to the drive shaft of the reduction gear, and the driven shaft of the reduction gear is fixedly connected to the adjacent wheel hub. The input end of the motor is electrically connected to the output end of the unmanned vehicle controller to provide power for the rotation of the wheels.

[0007] Furthermore, all the reduction gears are made of Cr alloy steel and have undergone heat treatment to improve the strength and wear resistance of the transmission components.

[0008] Furthermore, all the gearbox housings are made of aluminum alloy to ensure lightweight design and heat dissipation.

[0009] Furthermore, the drive unit also includes brakes, which are respectively disposed at the wheel hubs. The input end of the brakes is electrically connected to the output end of the unmanned vehicle controller to provide braking force for stopping the rotation of the wheels.

[0010] Furthermore, the main frame is an isosceles trapezoidal steel truss structure to ensure load-bearing capacity.

[0011] Furthermore, the suspension system includes an upper control arm, a lower control arm, and a shock absorber. The upper control arm is rotatably connected to the upper end of the main frame via a pivot shaft, and the lower control arm is rotatably connected to the lower end of the main frame via a pivot shaft. Both the upper and lower control arms are A-type control arms. The upper control arm and the lower control arm corresponding to the vertical position are rotatably connected to the steering knuckle of the wheel via a universal joint. The shock absorber is rotatably connected between the middle of the lower control arm and the upper end of the main frame, thereby realizing a double wishbone independent suspension connection between the main frame and the wheel.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This six-wheel, six-drive all-terrain unmanned vehicle has the following advantages:

[0013] 1. The six-wheel drive design provides strong basic traction for the autonomous vehicle, while the double wishbone independent suspension structure provides each wheel with extreme ground contact and vehicle stability. This combination enables the vehicle to easily cope with road surfaces that are difficult for traditional autonomous vehicles to pass, such as potholes, slopes, gravel, and grass, achieving all-terrain capability.

[0014] 2. The steel main frame ensures load-bearing capacity, and the double wishbone suspension effectively filters the impact of bumpy roads, ensuring the stability of the vehicle body and the safety of transported goods under heavy loads, and reducing component wear.

[0015] 3. The reducer adopts a combination of Cr gears and aluminum alloy housing, which ensures high strength and wear resistance of key transmission components while achieving lightweight and heat dissipation optimization, significantly extending the service life in heavy-load and high-frequency operating environments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model;

[0017] Figure 2 This is a top view of the overall device of this utility model;

[0018] Figure 3 This is a side view of the overall device of this utility model.

[0019] Figure 4 This is a schematic diagram of the suspension system of this utility model;

[0020] Figure 5 This is a top view of the internal structure of the main frame of this utility model;

[0021] Figure 6 This is a schematic diagram of the main frame of this utility model;

[0022] Figure 7 This is a partial structural schematic diagram of the drive unit of this utility model.

[0023] In the diagram: 1 Main frame, 2 Shell, 3 Wheel, 4 Suspension system, 41 Upper control arm, 42 Lower control arm, 43 Shock absorber, 5 Drive unit, 51 Motor, 52 Gearbox housing, 53 Reduction gear, 54 Brake. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figure 1-7 This embodiment provides a technical solution: a six-wheel, six-drive all-terrain unmanned vehicle, including a main frame 1, which provides support for the setting of the walking system;

[0026] Main frame 1: Its surface is equipped with an outer shell 2, which is a modular shell covering the surface of the main frame 1. Through the combined action of the outer shell 2 and the seals, the entire machine achieves an IP54 protection rating, effectively preventing dust intrusion and water splashes from all directions, adapting to outdoor and harsh working environments. Wheels 3 are mounted at the front and rear ends of the main frame 1 via suspension systems 4. The rotation of the wheels provides power for the unmanned vehicle's movement. There are six suspension systems 4, symmetrically distributed in pairs, front and rear. All suspension systems 4 are double wishbone independent suspensions. Drive units 5 are located inside the main frame 1. The five wheels correspond one-to-one with the three wheels. Utilizing a six-wheel, six-drive structure, it provides strong basic traction for the autonomous vehicle's movement. During movement, the double wishbone independent suspension structure precisely controls the trajectory of the three wheels. When the three wheels move up and down, the kingpin inclination angle and track width change little, providing excellent lateral support and greatly reducing body roll on heavy-load turns or bumpy roads. This allows the vehicle to maintain maximum body level and contact area of ​​all wheels when passing through potholes, slopes, gravel, grass, and other road surfaces, providing the best power platform for the drive system and achieving all-terrain capability.

[0027] The drive unit 5 includes a motor 51, a reducer housing 52, and a reduction gear 53. The motor 51 and the reducer housing 52 are respectively located inside the main frame 1. The reduction gear 53 is rotatably connected inside the reducer housing 52. The output shaft of the motor 51 is fixedly connected to the drive shaft of the reduction gear 53. The driven shaft of the reduction gear 53 is fixedly connected to the wheel hub of the adjacent wheel 3. The input end of the motor 51 is electrically connected to the output end of the unmanned vehicle controller. The reduction gear 53 adopts a reduction gear set commonly used in the prior art. When the motor 51 is started, the output shaft of the motor 51 drives the drive shaft of the reduction gear 53 to rotate. By using the reduction transmission of the reduction gear 53, the driven shaft of the reduction gear 53 drives the wheel 3 to rotate.

[0028] All reduction gears 53 are made of 40Cr alloy steel and have undergone quenching and tempering treatment, giving them high strength, high toughness and excellent wear resistance. They are designed to withstand impact and fatigue loads under heavy load conditions.

[0029] All reducer housings 52 are made of aluminum alloy, achieving a balance between lightweight design and good heat dissipation.

[0030] The drive unit 5 also includes a brake 54, which is respectively located at the wheel hub of the wheel 3. The input end of the brake 54 is electrically connected to the output end of the unmanned vehicle controller. The brake 54 adopts a disc brake commonly used in the prior art to provide braking force for the unmanned vehicle to stop moving.

[0031] The main frame 1 is an isosceles trapezoidal steel truss structure, which has extremely high structural strength and load-bearing capacity, ensuring overall rigidity and stability under heavy load conditions;

[0032] The suspension system 4 includes an upper control arm 41, a lower control arm 42, and a shock absorber 43. The upper control arm 41 is rotatably connected to the upper end of the main frame 1 via a pivot shaft 1, and the lower control arm 42 is rotatably connected to the lower end of the main frame 1 via a pivot shaft 2. Both the upper control arm 41 and the lower control arm 42 are A-type control arms. The upper control arm 41 and the lower control arm 42 in the vertical position are rotatably connected to the steering knuckle of the wheel 3 via a universal joint. The universal ball joints at the ends of the upper control arm 41 and the lower control arm 42 are rotatably connected to the ball grooves on the surface of the steering knuckle of the wheel 3. The shock absorber 43 is rotatably connected between the middle of the lower control arm 42 and the upper end of the main frame 1. The lower end of the shock absorber 43 is rotatably connected to the middle of the lower control arm 42 via a pivot shaft 3, and the upper end of the shock absorber 43 is rotatably connected to the upper end of the main frame 1 via a pivot shaft 4. This connects the main frame 1 and the wheel 3, providing clearance for the vertical movement of the wheel 3 during travel.

[0033] The working principle of the six-wheel, six-drive all-terrain unmanned vehicle provided by this utility model is as follows: During use, the motor 51 is started by the unmanned vehicle controller. The output shaft of the motor 51 drives the drive shaft of the reduction gear 53 to rotate. Utilizing the reduction transmission of the reduction gear 53, the driven shaft of the reduction gear 53 drives the wheels 3 to rotate. The six-wheel, six-drive structure provides strong basic traction for the unmanned vehicle's movement. During movement, the upper swing arm 41 and the lower swing arm 42 work together to precisely control the trajectory of the wheels 3. When the wheels 3 move up and down, the kingpin inclination angle and wheel track change little, providing excellent lateral support and greatly reducing the body roll on heavy-load turns or bumpy roads. This allows the vehicle to maintain maximum vehicle level and contact area of ​​all wheels when passing through potholes, slopes, gravel, grass, and other road surfaces, providing the best power platform for the drive system and achieving all-terrain capability.

[0034] The above are merely embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A six-wheel six-drive all-terrain unmanned vehicle, characterized in that: Including the main frame (1); Main frame (1): Its surface is provided with a shell (2). The front and rear ends of the main frame (1) are respectively provided with wheels (3) through the suspension system (4). There are six suspension systems (4) and they are symmetrically distributed in pairs. All suspension systems (4) are double wishbone independent suspensions. The interior of the main frame (1) is provided with drive units (5). The drive units (5) correspond one-to-one with the wheels (3). The drive unit (5) includes a motor (51), a reducer housing (52) and a reduction gear (53). The motor (51) and the reducer housing (52) are respectively located inside the main frame (1). The reducer housing (52) is rotatably connected to the reducer gear (53). The output shaft of the motor (51) is fixedly connected to the drive shaft of the reducer gear (53). The driven shaft of the reducer gear (53) is fixedly connected to the hub of the adjacent wheel (3). The input end of the motor (51) is electrically connected to the output end of the unmanned vehicle controller. The drive unit (5) also includes a brake (54), which is respectively located at the hub of the wheel (3), and the input end of the brake (54) is electrically connected to the output end of the unmanned vehicle controller.

2. The six-wheel six-drive all-terrain unmanned vehicle according to claim 1, characterized in that: All reduction gears (53) are 40cr alloy steel gears, and all reduction gears (53) have undergone heat treatment.

3. The six-wheel six-drive all-terrain unmanned vehicle according to claim 1, characterized in that: The reducer housing (52) is made of aluminum alloy.

4. The six-wheel six-drive all-terrain unmanned vehicle according to claim 1, characterized in that: The main frame (1) is an isosceles trapezoidal steel truss structure. 5.The six-wheel six-drive all-terrain unmanned vehicle according to claim 1, characterized in that: The suspension system (4) includes an upper control arm (41), a lower control arm (42), and a shock absorber (43). The upper control arm (41) is rotatably connected to the upper end of the main frame (1) via a pivot shaft, and the lower control arm (42) is rotatably connected to the lower end of the main frame (1) via a pivot shaft. Both the upper control arm (41) and the lower control arm (42) are A-type control arms. The upper control arm (41) and the lower control arm (42) corresponding to the vertical position are rotatably connected to the steering knuckle of the wheel (3) via a universal joint. The shock absorber (43) is rotatably connected between the middle of the lower control arm (42) and the upper end of the main frame (1).

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